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Poor Man's Sampling Profiler

本节介绍如何通过分析来评估 PX4 系统的性能。


PMSP 是一种 shell 脚本,它通过定期中断固件的执行来运行,便对当前堆栈跟踪进行采样。 采样的堆栈跟踪将追加到文本文件中。 一旦采样完成(通常需要大约一个小时或更长时间),收集的堆栈跟踪将 foldedfolding 的结果是另一个包含相同堆栈跟踪的文本文件,只是所有类似的堆栈跟踪(即在程序中的同一点获得的堆栈跟踪)都连接在一起,并记录其出现次数。 然后将折叠的堆栈输入到可视化脚本中,为此,我们使用了 FlameGraph--开源堆栈跟踪可视化


探查器的基本用法可通过生成系统使用。 例如,下面的命令生成和探查出 px4_fmu-v4pro 目标的10000个样本(提取 FlameGraph 并根据需要将其添加到路径中)。

make px4_fmu-v4pro_default profile

有关对生成过程的更多控制,包括设置样本数,请参阅 Implementation



FlameGraph 实例

在火焰图上,水平水平表示堆叠帧,而每个帧的宽度与采样次数成正比。 反过来,函数最终被采样的次数也与其执行的持续时间频率成正比。


该脚本是作为一个临时解决方案开发的,因此存在一些问题。 使用时请注意:

  • 如果 GDB 出现故障,脚本可能无法检测到该问题,并继续运行。 在这种情况下,显然不会产生可用的堆栈。 为了避免这种情况,用户应定期检查文件 /tmp/pmpn-gdberr.log,其中包含最近调用 GDB 的 stderr 输出。 将来,应修改脚本以在安静模式下调用 GDB,在安静模式下,它将通过其退出代码指示问题。

  • 有时 GDB 一直运行,同时采样堆栈跟踪。 在此失败期间,目标将无限期停止。 解决方案是手动中止脚本,然后使用 --append 选项再次重新启动它。 将来,应修改脚本以对每次 GDB 调用强制执行超时。

  • 不支持多线程环境。 这不会影响单个核心嵌入式目标,因为它们总是在一个线程中执行,但这一限制使探查器与许多其他应用程序不兼容。 将来,应修改堆栈文件夹以支持每个示例的多个堆栈跟踪。


The script is located at Debug/ Once launched, it will perform the specified number of samples with the specified time interval. Collected samples will be stored in a text file in the system temp directory (typically /tmp). Once sampling is finished, the script will automatically invoke the stack folder, the output of which will be stored in an adjacent file in the temp directory. If the stacks were folded successfully, the script will invoke the FlameGraph script and store the result in an interactive SVG file. Please note that not all image viewers support interactive images; it is recommended to open the resulting SVG in a web browser.

The FlameGraph script must reside in the PATH, otherwise PMSP will refuse to launch.

PMSP uses GDB to collect the stack traces. Currently it uses arm-none-eabi-gdb, other toolchains may be added in the future.

In order to be able to map memory locations to symbols, the script needs to be referred to the executable file that is currently running on the target. This is done with the help of the option --elf=<file>, which expects a path (relative to the root of the repository) pointing to the location of the currently executing ELF.

Usage example:

./ --elf=build/px4_fmu-v4_default/px4_fmu-v4_default.elf --nsamples=30000

Note that every launch of the script will overwrite the old stacks. Should you want to append to the old stacks rather than overwrite them, use the option --append:

./ --elf=build/px4_fmu-v4_default/px4_fmu-v4_default.elf --nsamples=30000 --append

As one might suspect, --append with --nsamples=0 will instruct the script to only regenerate the SVG without accessing the target at all.

Please read the script for a more in depth understanding of how it works.


Credits for the idea belong to Mark Callaghan and Domas Mituzas.

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